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AP_UAVCAN: set timeout for periodic msgs to 1

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this stops us keeping messages for resend for too long, which fixes a
major memory leak
This commit is contained in:
Andrew Tridgell 2018-05-22 13:37:46 +10:00
parent 4c51edfaca
commit 5f8bff8f3e
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -74,6 +74,10 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
AP_GROUPEND
};
// this is the timeout in milliseconds for periodic message types. We
// set this to 1 to minimise resend of stale msgs
#define CAN_PERIODIC_TX_TIMEOUT_MS 1
static void gnss_fix_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] != nullptr) {
@ -501,15 +505,15 @@ bool AP_UAVCAN::try_init(void)
}
act_out_array[_uavcan_i] = new uavcan::Publisher<uavcan::equipment::actuator::ArrayCommand>(*node);
act_out_array[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(20));
act_out_array[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(CAN_PERIODIC_TX_TIMEOUT_MS));
act_out_array[_uavcan_i]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
esc_raw[_uavcan_i] = new uavcan::Publisher<uavcan::equipment::esc::RawCommand>(*node);
esc_raw[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(20));
esc_raw[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(CAN_PERIODIC_TX_TIMEOUT_MS));
esc_raw[_uavcan_i]->setPriority(uavcan::TransferPriority::OneLowerThanHighest);
rgb_led[_uavcan_i] = new uavcan::Publisher<uavcan::equipment::indication::LightsCommand>(*node);
rgb_led[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(20));
rgb_led[_uavcan_i]->setTxTimeout(uavcan::MonotonicDuration::fromMSec(CAN_PERIODIC_TX_TIMEOUT_MS));
rgb_led[_uavcan_i]->setPriority(uavcan::TransferPriority::OneHigherThanLowest);
_led_conf.devices_count = 0;
@ -622,8 +626,6 @@ void AP_UAVCAN::SRV_send_esc(void)
k = 0;
for (uint8_t i = 0; i < max_esc_num && k < 20; i++) {
uavcan::equipment::actuator::Command cmd;
if ((((uint32_t) 1) << i) & _esc_bm) {
// TODO: ESC negative scaling for reverse thrust and reverse rotation
float scaled = cmd_max * (hal.rcout->scale_esc_to_unity(_SRV_conf[i].pulse) + 1.0) / 2.0;